CN108860161A - Parking is intended to judgment means and parking is intended to judgment method - Google Patents
Parking is intended to judgment means and parking is intended to judgment method Download PDFInfo
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- CN108860161A CN108860161A CN201810319015.2A CN201810319015A CN108860161A CN 108860161 A CN108860161 A CN 108860161A CN 201810319015 A CN201810319015 A CN 201810319015A CN 108860161 A CN108860161 A CN 108860161A
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- 238000012545 processing Methods 0.000 claims description 62
- 238000004364 calculation method Methods 0.000 claims description 6
- 241001536374 Indicator indicator Species 0.000 claims 1
- 238000004891 communication Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 8
- 230000015654 memory Effects 0.000 description 8
- 230000006399 behavior Effects 0.000 description 7
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- 238000012544 monitoring process Methods 0.000 description 6
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- 210000000162 simple eye Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/21—Voice
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Computational Linguistics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The application provides a kind of parking intention judgment means and intention judgment method of stopping.Judge that the parking of driver is intended in automatic driving mode downward driving, can control by automatic Pilot with will not aggravating the burden of the hand of driver makes vehicle parking.Parking is intended to judgment means (10) and is equipped on the vehicle with automatic driving mode, judges that the parking of driver is intended in automatic driving mode downward driving, wherein parking is intended to judgment means and includes：Input signal acquisition unit (12a) obtains the signal from hazard warning light switch (61) in automatic driving mode downward driving；It stops intent determining section (12e), the input signal based on acquirement judges that the parking of driver is intended to；And signal output section (12f), in the case where being judged as that input signal is the signal of parking intention for indicating driver by parking intent determining section (12e), the signal that instruction is stopped based on automatic Pilot is exported to automatic Pilot control device (20).
Description
Technical field
It is intended to judgment means the present invention relates to parking and intention judgment method of stopping is related to being equipped in more detail
Vehicle with automatic driving mode and judge with the automatic driving mode travel in driver parking be intended to parking
It is intended to judgment means and parking is intended to judgment method.
Background technique
In recent years, it energetically carries out research in order to automatically carry out the realization for the automatic Pilot that the traveling of vehicle controls and opens
Hair.The industrial grade of automatic Pilot be divided into from will including acceleration and deceleration, turn to, including braking traveling control at least part
Several grades until the grade automated to the grade being fully automated.
Automated driving system undertake the operation of vehicle and the main body of environment monitoring automation grade (for example, accelerate,
It turns to, braking is all carried out by automated driving system, the grade 3 that driver is coped with when automated driving system sending requires)
In, it is assumed that it generates from automatic driving mode because of key factors such as traffic environments to the manual drive pattern switching based on driver
Situation.Such as there are following situations：Automatic Pilot, but the automatic Pilot system near intersection are able to carry out in highway
It unites to driver requested manual drive.
In the automatic driving mode of above-mentioned grade 3, substantially driver is freed from driver behavior, therefore
The lucidity that driver is possible to operation or driver other than driving in automatic Pilot is likely to decrease.Therefore, exist
Under from automatic driving mode to the situation of manual drive pattern switching, biggish operating burden is applied to driver sometimes.Relatively
In such technical problem, such as one kind is disclosed in following patent documents 1,2 and is cut from automatic Pilot to manual drive
It can reduce the automatic Pilot auxiliary device of the burden applied to driver when changing.
Technical problems to be solved by the inivention
However, under the automation grade that automated driving system undertakes the operation of vehicle and the main body of environment monitoring from
In dynamic driving, also assumes that and want the case where making vehicle parking under arbitrary opportunity.
It can reduce according to technology disclosed in above patent document 1,2 when switching from automatic Pilot to manual drive
Control etc. to the burden that driver applies, but in the case where in automatic Pilot stopping under arbitrary opportunity vehicle
It is not specifically disclosed.
In automatic Pilot, in the case where stopping vehicle under arbitrary opportunity, such as consider from automatic Pilot to hand
It is dynamic to drive switching and the method for vehicle parking is made by the manual drive based on driver or is changed based on automatic Pilot
Parking facility route change operation method.
However, any method has the following technical problems：Pass through what is freed in automatic Pilot from driver behavior
Driver carries out troublesome movement, aggravates the burden of the hand of driver.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2017-030546 bulletin
Patent document 2：Japanese Unexamined Patent Publication 2016-091412 bulletin
Summary of the invention
For solving the technical solution and its effect of technical problem
The present invention is made in view of above-mentioned technical problem, and its purpose is to provide one kind can be with automatic driving mode
Judge that the parking of driver makes vehicle by automatic Pilot control with being intended to the burden of the hand without aggravating driver under steam
Parking parking be intended to judgment means.
To achieve the goals above, parking of the invention intention judgment means (1) is equipped on automatic driving mode
Vehicle judges that the parking of driver is intended in the automatic driving mode downward driving, which is characterized in that
The parking is intended to judgment means：
Input signal acquisition unit obtains in the automatic driving mode downward driving from set on the scheduled of the vehicle
The signal of input unit；
Stop intent determining section, based on by acquired by the input signal acquisition unit from the scheduled input unit
Signal judges that the parking of the driver is intended to；And
Signal output section is being judged as that the signal from the scheduled input unit is table by the parking intent determining section
In the case where showing the signal that the parking of the driver is intended to, to the automatic Pilot control for the control for carrying out the automatic driving mode
Output instruction in portion's processed continues the signal of parking based on automatic Pilot.
It is intended to judgment means (1) according to above-mentioned parking, based on by coming from institute acquired by the input signal acquisition unit
The signal for stating scheduled input unit judges that the parking of the driver in travelling with the automatic driving mode is intended to, is being judged as
Signal from the scheduled input unit is in the case where indicating signal that the parking of the driver is intended to, to described automatic
The signal of parking of the drive control section output instruction based on automatic Pilot.Thereby, it is possible in the automatic driving mode downward driving
In, make vehicle parking using automatic Pilot control while the burden of the hand of driver will not be aggravated.
In addition, parking of the invention is intended to judgment means (2) on the basis of above-mentioned parking is intended to judgment means (1),
It being characterized in that, the scheduled input unit is provided at the hazard warning light switch of the vehicle,
The parking intent determining section based on as acquired by the input signal acquisition unit come from the hazard warning light
The state of the input signal of switch judges that the parking of the driver is intended to.
It is intended to judgment means (2) according to above-mentioned parking, the shape based on the input signal switched from the hazard warning light
State judges that the parking of driver is intended in the automatic driving mode downward driving, is being judged as from the hazard warning light
In the case that the signal of switch is the signal for the state for indicating that the parking of the driver is intended to, to the automatic Pilot control unit
The signal of parking of the output instruction based on automatic Pilot.As a result, in the automatic driving mode downward driving, pass through the danger
The operation of lamp switch is warned, is made by automatic Pilot control with will not capable of aggravating the burden of the hand of driver in simple operation
Vehicle parking.In addition, since hazard warning light switch is equipped on common vehicle, by using the dangerous warning
Lamp switch does not need the Operation switch new to vehicle loading, can cut down the area for carrying Operation switch class.In addition, by institute
The stopping of hazard warning light switch usually display vehicle is stated, therefore does not need to keep the driver preparatory to implement the present invention
The special operation of storage or function can be set as using the excellent device of convenience.
In addition, parking of the invention is intended to judgment means (3) on the basis of above-mentioned parking is intended to judgment means (2),
It is characterized in that, the parking intent determining section is to dodge hazard warning light in the input signal switched from the hazard warning light
In the case where the signal of state more than bright pre-determined number or more than the predetermined time, it is judged as that the driver has parking meaning
Figure.
It is intended to judgment means (3) according to above-mentioned parking, is to make to endanger in the input signal switched from the hazard warning light
In the case where the signal of state more than dangerous warning lamp flashing pre-determined number or more than the predetermined time, it is judged as the driver
It is intended to parking, thus it is for example possible to the meaning short time flashing relative to nearby vehicle to give way etc. out of politeness
Switch operation (so-called to thank to warning) is distinguished and judges the parking of the driver and be intended to.
In addition, parking of the invention is intended to judgment means (4) on the basis of above-mentioned parking is intended to judgment means (2),
It being characterized in that, it includes calculating the operating range calculation part of the operating range of the vehicle that the parking, which is intended to judgment means,
The parking intent determining section is coming from hazard warning light switch as acquired by the input signal acquisition unit
Input signal during, by the calculated operating range of operating range calculation part become preset distance more than situation
Under, it is judged as that there is the driver parking to be intended to.
It is intended to judgment means (4) according to above-mentioned parking, is achieving the input signal from hazard warning light switch
During, in the case where the operating range becomes preset distance or more, it is judged as that there is the driver parking to be intended to, because
This can obtain the effect roughly the same with above-mentioned parking intention judgment means (3).
In addition, parking of the invention is intended to judgment means (5) on the basis of above-mentioned parking is intended to judgment means (1),
It being characterized in that, the scheduled input unit is provided at the voice input portion of the vehicle,
It includes carrying out by coming from the sound acquired by the input signal acquisition unit that the parking, which is intended to judgment means,
The voice recognition processing unit of the identifying processing of the voice signal of sound input unit,
The parking intent determining section is to be intended to carry out the vehicle in the sound identified by the voice recognition processing unit
Parking sound in the case where, be judged as the driver have parking be intended to.
It is intended to judgment means (5) according to above-mentioned parking, the identification knot based on the voice signal from the voice input portion
Fruit judges that the parking of driver is intended in the automatic driving mode downward driving, is handled being judged as by the voice recognition
In the case that the sound that portion identifies indicates that the parking of the driver is intended to, instruction base is exported to the automatic Pilot control unit
In the signal of the parking of automatic Pilot.As a result, in the automatic driving mode, pass through the sound via the voice input portion
Input makes vehicle parking by automatic Pilot control with will not aggravating the burden of the hand of driver.
In addition, parking of the invention is intended to judgment means (6) on the basis of above-mentioned parking is intended to judgment means (1),
It being characterized in that, the scheduled input unit is provided at the direction indicator switch of the vehicle,
The parking intent determining section is based on by coming from the direction instruction acquired by the input signal acquisition unit
The state of the input signal of device switch judges that the parking of the driver is intended to.
It is intended to judgment means (6) according to above-mentioned parking, the shape based on the input signal switched from the direction indicator
State judges that the parking of driver is intended in the automatic driving mode downward driving, is being judged as from the direction indicator
In the case that the signal of switch is the signal for the state for indicating that the parking of the driver is intended to, to the automatic Pilot control unit
The signal of parking of the output instruction based on automatic Pilot.As a result, in the automatic driving mode, it can be referred to by the direction
Show the operation of device switch, vehicle parking is made while the burden of the hand of driver will not be aggravated by automatic Pilot control.In addition, due to
The direction indicator switch is equipped on common vehicle, therefore is switched by using the direction indicator, is not necessarily to vehicle
New Operation switch is carried, the area for carrying Operation switch class can be cut down.In addition, the direction indicator switch is usually to week
The intention of the drivers such as the traveling road change of notice vehicle is enclosed, there is no need to keep the driver pre- to implement the present invention
The special operation of first storage or function, can be set as using the excellent device of convenience.
In addition, parking of the invention is intended to judgment means (7) on the basis of above-mentioned parking is intended to judgment means (6),
It is characterized in that, the parking intent determining section is to make the side in roadside direction in the input signal switched from the direction indicator
It is flashed to indicator light and makes the signal of the blinker flashing pre-determined number or more or the state more than predetermined time
In the case where, it is judged as that there is the driver parking to be intended to.
It is intended to judgment means (7) according to above-mentioned parking, is to make road in the input signal switched from the direction indicator
The blinker of edge direction flashes and makes the blinker flashing pre-determined number or more or is more than the predetermined time
In the case where the signal of state, it is judged as that there is the driver parking to be intended to, thus it is for example possible to towards overtaking lane etc.
The change of traveling road distinguishes and judges the parking of the driver and be intended to.
In addition, parking of the invention be intended to judgment method using be equipped on the vehicle with automatic driving mode including
The device of storage unit and the hardware processor cooperated with the storage unit,
Judge that the parking of driver is intended in the automatic driving mode downward driving, which is characterized in that
The storage unit includes sentencing for the relevant information of input signal for the parking intention for storing to judging the driver
Break signal information storage part,
The parking is intended to judgment method and includes the following steps：
In the automatic driving mode downward driving, the hardware processor is obtained from set on the scheduled of the vehicle
The signal of input unit；
The hardware processor is read from the judgement signal message storage unit to be intended to the parking of the driver is judged
The relevant information of input signal；
It signal of the hardware processor based on the acquirement from the scheduled input unit and is driven with described in judgement
The relevant information of input signal that the parking for the person of sailing is intended to judges that the parking of the driver is intended to；And
The hardware processor is being judged as that the signal from the scheduled input unit is to indicate stopping for the driver
In the case where the signal that vehicle is intended to, the automatic Pilot control unit output instruction to the control for carrying out the automatic driving mode is based on
The signal of the parking of automatic Pilot.
It is intended to judgment method according to above-mentioned parking, based on the input signal obtained from the scheduled input unit, described
Judge that the parking of driver is intended in automatic driving mode downward driving, is being judged as that the signal from the scheduled input unit is
In the case where indicating the signal that the parking of the driver is intended to, it is based on driving automatically to automatic Pilot control unit output instruction
The signal for the parking sailed.As a result, in the automatic driving mode, can the burden of the hand of the driver will not be aggravated it lead to
Crossing automatic Pilot control makes vehicle parking.
Detailed description of the invention
Fig. 1 is to indicate to include that stopping for embodiments of the present invention (1) is intended to the master of the automated driving system of judgment means
The block diagram partially to constitute.
Fig. 2 is to indicate that the parking of embodiment (1) is intended to the block diagram that the hardware of judgment means is constituted.
Fig. 3 is that the first processing for indicating that the control unit that the parking of embodiment (1) is intended in judgment means is carried out is moved
The flow chart of work.
Fig. 4 is that the second processing for indicating that the control unit that the parking of embodiment (1) is intended in judgment means is carried out is moved
The flow chart of work.
Fig. 5 is that the third processing for indicating that the control unit that the parking of embodiment (1) is intended in judgment means is carried out is moved
The flow chart of work.
Fig. 6 is that the fourth process for indicating that the control unit that the parking of embodiment (1) is intended in judgment means is carried out is moved
The flow chart of work.
Fig. 7 is that the 5th processing for indicating that the control unit that the parking of embodiment (1) is intended in judgment means is carried out is moved
The flow chart of work.
Specific embodiment
Hereinafter, being illustrated based on the drawings, parking of the invention is intended to judgment means and parking is intended to the implementation of judgment method
Mode.In addition, embodiments discussed below is preferred concrete example of the invention, various restrictions are technically carried out, but as long as
The record of purport of the invention is not particularly limited in the following description, then the scope of the present invention is not limited to these modes.
Fig. 1 is to indicate that the parking comprising embodiment (1) is intended to the major part structure of the automated driving system of judgment means
At block diagram.
Automated driving system 1 includes that parking is intended to judgment means 10 and automatic Pilot control device 20.Automatic Pilot control
Device 20 including carrying out in the control of the traveling including the acceleration and deceleration of vehicle, steering, braking system as main body automatically
At least part of automatic driving mode and driver carry out the structure that switches over of manual drive mode of driver behavior
At.In addition, automatic Pilot control device 20 can also carry out the control that driver is not involved in the fully automated driving of driving.
Automated driving system 1 is intended to further include turning to except judgment means 10 and automatic Pilot control device 20 in parking
Sensor 31, accelerator pedal sensor 32, brake pedal sensor 33, steering control device 34, power source control device 35, system
Dynamic control device 36, hazard warning light 37, blinker 38, perimeter monitoring sensor 39, GPS receiver 40, gyroscope pass
Needed for the various controls of the automatic Pilots such as sensor 41, vehicle speed sensor 42, navigation device 43, communication device 44 and manual drive
Sensor or control device for wanting etc..These various sensors, control device are attached via communication line 50.
In addition, in the car equipped with engine, motor etc. as the power unit 51 of power source and including for driving
The transfer 53 for the steering wheel (steered wheel) 52 that member turns to.The hardware composition for being intended to judgment means 10 for parking is seen below
It states.
Automatic Pilot control device 20 is the device for executing various controls relevant to the automatic Pilot of vehicle, by including not
The electronic control unit of control unit, storage unit, input unit, the output section of diagram etc. is constituted.The control unit includes more than one
Hardware processor, read and be stored in the program of the storage unit, execute various vehicle controls.
Automatic Pilot control device 20 passes other than parking is intended to judgment means 10 with rotation direction sensor 31, gas pedal
Sensor 32, brake pedal sensor 33, steering control device 34, power source control device 35, brake control 36, periphery prison
View sensor 39, GPS receiver 40, gyro sensor 41, vehicle speed sensor 42, navigation device 43, communication device 44 etc. are even
It connects.Automatic Pilot control device 20 will carry out the control signal of automatic Pilot towards each based on the information obtained from each part mentioned above
Control device output carries out automatic ride control (automatic steering control, auto-speed adjustment control, automatic braking control of vehicle
System etc.).
Automatic Pilot refers to that the driver positioned at driver's seat is controlled by automatic Pilot and filled without driver behavior
Setting the control that 20 are carried out makes vehicle along road automatic running.E.g., including according to until preset destination
Route, based on vehicle outside situation or cartographic information and travel route for automatically generating etc., make the driving of vehicle driving automatically
State.Then, automatic Pilot control device 20 terminates (releasing) in the case where meeting the condition subsequent of scheduled automatic Pilot
Automatic Pilot.For example, automatic Pilot control device 20 reaches scheduled automatic Pilot in the vehicle being judged as in automatic Pilot
Terminate automatic Pilot in the case where end place.In addition, automatic Pilot control device 20 can also be driven automatically in driver
Sail release operation (such as the behaviour of the operation of automatic Pilot releasing button, the steering wheel based on driver, accelerator or brake
Make etc.) in the case where, carry out the control for terminating automatic Pilot.Manual drive refers to that driver becomes the master for carrying out driver behavior
Body and the driving for making vehicle driving.
Rotation direction sensor 31 is the sensor for detecting the steering volume relative to steering wheel 52, such as the steering shaft set on vehicle
And detect the steering angle of the steering torque from driver to steering wheel 52 or steering wheel 52 given from.It is detected by rotation direction sensor 31
Out, corresponding with the steering wheel operation of driver signal exports towards automatic Pilot control device 20, steering control device 34.
Accelerator pedal sensor 32 is the sensor for detecting the depression amount (position of gas pedal) of gas pedal, such as is set
In the main shaft portion of gas pedal.Signal corresponding with gas pedal depression amount court that is being detected by accelerator pedal sensor 32
Automatic Pilot control device 20, power source control device 35 export.
Brake pedal sensor 33 is to detect the depression amount (position of brake pedal) or operating force (legpower of brake pedal
Deng) sensor.The signal corresponding with the depression amount of brake pedal or operating force that will be detected by brake pedal sensor 33
It is exported towards automatic Pilot control device 20, brake control 36.
Steering control device 34 is the electronics control for controlling the transfer (for example, electric power steering device) 53 of vehicle
Unit processed.Steering control device 34 passes through the motor of the steering torque of drive control vehicle, to control the steering torque of vehicle.
Under automatic driving mode, steering torque is controlled according to the control signal from automatic Pilot control device 20.
Power source control device 35 is the electronic control unit for controlling power unit 51.Power source control device 35 is for example logical
Control is crossed relative to the supply amount of fuel and the supply amount of air of engine or relative to the electrical supply amount of motor
To control the driving force of vehicle.Under automatic driving mode, controlled according to the control signal for carrying out automatic steering control device 20
The driving force of vehicle.
Brake control 36 is the electronic control unit for controlling the brake system of vehicle.Brake control 36 is for example
It is hydraulic by adjusting being assigned to liquid braking device system, control the brake force assigned towards the wheel of vehicle.In automatic Pilot mould
Under formula, the brake force towards wheel is controlled according to the control signal from automatic Pilot control device 20.
Hazard warning light 37 is the lamp flashed according to the operation of hazard warning light switch 61, vehicle front, after
Respectively configuration is a pair of for portion, side etc., with the operation of hazard warning light switch 61, whole lamp flashings.
Blinker 38 is the lamp flashed according to the operation of direction indicator switch 62, vehicle front, after
Respectively configuration is a pair of for portion, side etc., according to the direction of the operating stick of direction indicator switch 62, flashes either one lamp of left and right.
Perimeter monitoring sensor 39 is the sensor for detecting the object existing for the periphery of vehicle.The object includes
The mobile objects such as vehicle, bicycle, people, road surface identification (white line etc.), guardrail, central strip, others make the traveling of vehicle
At the structure etc. of influence.Perimeter monitoring sensor 39 includes front surveillance camera, rear surveillance camera, radar
(RADAR), optical radar, i.e. Light Detection and Ranging or Laser Imaging Detection and
At least one of Ranging (LIDER) and ultrasonic sensor.The object detected by perimeter monitoring sensor 39
Detection data exported towards automatic Pilot control device 20 Deng.It, can as front surveillance camera or rear surveillance camera
Using stereo camera or simple eye video camera etc..Radar sends the electric waves such as millimeter wave to vehicle periphery, and receives by being present in vehicle
The electric wave of object reflection around, the thus position, direction of test object object, distance etc..Optical radar is sent out to vehicle periphery
Laser is sent, and receives the light reflected by the object for being present in vehicle periphery, thus the position, direction of test object object, distance
Deng.
GPS receiver 40 is the GPS signal from moonlet to be received through not shown antenna and based on receiving
GPS signal and the device for calculate the processing (GPS navigation) of this truck position.Using GPS receiver 40, by this parking stall of calculating
Confidence breath is exported towards automatic Pilot control device 20 or navigation device 43 etc..
Gyro sensor 41 is the sensor for detecting the angular velocity of rotation (yaw-rate) of vehicle.By gyro sensor 41
The angular velocity of rotation signal detected is exported towards automatic Pilot control device 20 or navigation device 43 etc..
Vehicle speed sensor 42 is the sensor of the speed of detection vehicle, moving distance, such as by being set to wheel or drive shaft
Deng and the wheel speed sensor etc. that detects the rotation speed of wheel is constituted.The speed signal detected by vehicle speed sensor 42 is towards certainly
The outputs such as dynamic steering control device 20, navigation device 43, the inspection applied to the rotation speed of wheel, operating range or speed
It surveys.
Location information of the navigation device 43 based on the vehicle measured by GPS receiver 40 etc. (is not schemed with map data base
Show) cartographic information, calculate road, the lane of vehicle driving, calculate the route etc. from the current location of vehicle to destination, will
The route is towards display unit display (not shown), from the audio output unit sound output (not shown) for carrying out route guidance etc..By leading
The location information of vehicle that boat device 43 is found out, the information of travel and information etc. of projected route is travelled towards automatic Pilot
Control device 20 exports.Traveling projected route information in also comprising automatic Pilot section beginning place or end place,
The relevant information of the control to automatic Pilot in end (releasing) advance notice place etc. of automatic Pilot.Navigation device 43 is configured to wrap
Containing control unit (not shown), display unit, audio output unit, operation portion, map data storage part etc..
Communication device 44 is via wireless communication networks (such as mobile telephone network, VICS (registered trademark), DSRC (registrar
Mark) etc. communication networks) obtain the devices of various information.Communication device 44 further includes vehicle inter-vehicle communication function or road inter-vehicle communication function
Energy.For example, passing through the road with the trackside receiver transmitter (such as light beacon, ITS luminous point (registered trademark)) etc. being set to by road
Inter-vehicle communication can obtain the road environment information (lane restricted information etc.) of the traveling road of vehicle.In addition, passing through vehicle workshop
Communication can obtain information (location information controls relevant information etc. with traveling) relevant to other vehicles or by other
The road environment information etc. that vehicle detection goes out.
Based on block diagram shown in Fig. 2, the hardware composition for being intended to judgment means 10 to the parking of embodiment (1) is said
It is bright.
Parking is intended to judgment means 10 and is configured to include that input/output interface (I/F) 11, control unit 12 and storage are single
Member 13.
Input and output I/F11 is configured to, in addition to hazard warning light switch 61, the direction indicator switch as input unit
62, it except the microphone 63 (voice input portion) and other switches 64 of voice input, is also driven with vehicle speed sensor 42, automatically
The connection such as control device 20, hazard warning light 37, blinker 38 is sailed, including for carrying out between these external equipments
The circuit received or connection connector of signal etc..
Control unit 12 is configured to include input signal acquisition unit 12a, voice recognition processing unit 12b, operating range calculating
Portion 12c, driving mode judging part 12d, parking intent determining section 12e and signal output section 12f, by Central
The more than one hardware processor such as Processing Unit (CPU) is constituted.
It includes voice recognition dictionary portion 13a that storage unit 13, which is configured to, judges signal message storage unit 13b, control content
It is storage unit 13c, Read Only Memory (ROM), Random Access Memory (RAM), solid state drive (SSD), hard
Disk drive (HDD), flash memory, other nonvolatile memories, volatile memory etc. are by semiconductor element storing data
More than one memory device.The parking intention executed by parking intent determining section 12e is stored in storage unit 13 to sentence
Disconnected program.
The sound executed by voice recognition processing unit 12b is stored in the voice recognition dictionary portion 13a of storage unit 13
Dictionary data required for identifying processing, the dictionary data of voice signal of parking intention for judging driver etc..
In the relevant letter of input signal for judging that signal message storage unit 13b is stored with and judges that the parking of driver is intended to
Breath.For example, as information relevant to for judging the signal of hazard warning light switch 61 of parking intention of driver, storage
There is information relevant to the operating range in the flashing times of hazard warning light 37, scintillation time, flashing etc..In addition, as with
For judging the relevant information of signal of direction indicator switch 62 that the parking of driver is intended to, it is stored with and blinker
38 flashing times, scintillation time, relevant information of operating range in flashing etc..
Control content store 13c in be stored with from the signal output section 12f of control unit 12 export relative to
The relevant data of control content of the external equipments such as automatic Pilot control device 20, hazard warning light 37, blinker 38.
Control unit 12 is configured to, with storage unit 13 cooperate and read will control required for data to be stored in storage single
The parking that the processing of member 13, storage unit 13 are stored is intended to data required for the execution of determining program or the program, and
Execute described program.
Constitute control unit 12 driving mode judging part 12d for example based on is obtained from automatic Pilot control device 20 oneself
Setting signal, the releasing anticipating signal of automatic driving mode, the ring off signal of automatic driving mode etc. of dynamic driving mode, execute
The processing of driving mode of the judgement comprising automatic driving mode or manual drive mode.The setting signal of automatic driving mode be
Towards automatic driving mode setting (switching) after the signal that exports.The releasing anticipating signal of automatic driving mode is from certainly
Dynamic driving mode towards before the switching of manual drive mode (in the case where the adapter tube section operated into manual drive) output letter
Number.The ring off signal of automatic driving mode is the letter exported after automatic driving mode is released from and is switched to manual drive mode
Number.
In the case that input signal acquisition unit 12a is judged as automatic driving mode at driving mode judging part 12d, obtain
From hazard warning light switch 61, direction indicator switch 62, other switches 64 switch input signal, it is dangerous alert to execute detection
Show the processing of lamp 37, the flashing times of blinker 38, scintillation time etc..It obtains in addition, also executing from microphone 63
The processing of audio input signal.
Voice recognition processing unit 12b is obtaining the voice input letter from microphone 63 by input signal acquisition unit 12a
In the case where number, the dictionary data for being stored in voice recognition dictionary portion 13a, the execution sound based on the dictionary data read out are read
Sound identifying processing.In voice recognition processing, well known voice recognition processing technique can be used.
Operating range calculation part 12c detected the input signal from various switches by input signal acquisition unit 12a
Shi Zhihang calculates the processing of the distance of vehicle driving.
Parking intent determining section 12e execution judges driver, and whether there is or not the processing that parking is intended to.
Firstly, being judged as automatic driving mode in driving mode judging part 12d, taken by input signal acquisition unit 12a
From hazard warning light switch 61, the switch input signal of blinker 38 or audio input signal from microphone 63
In the case where, execute from judge signal message storage unit 13b read with judge driver stop intention input signal it is related
Information or from voice recognition dictionary portion 13a read judge driver parking intention dictionary data processing.It connects down
Come, based on the acquirement switch input signal or audio input signal, judge driver parking be intended to input believe
Number (also include voice signal) relevant information executes and judge driver whether there is or not the processing of parking intention.
Scheduled signal of the 12f output in signal output section based on the judging result in parking intent determining section 12e.For example,
It is defeated towards automatic Pilot control device 20 in the case that judging result in the intent determining section 12e that stops is with parking intention
Vehicle is set to be parked in the control signals of the harbors such as roadside by automatic Pilot out, on the other hand, in the feelings that no parking is intended to
Under condition, it can not also export and appoint towards the signal of the continuation of 20 export permit automatic driving mode of automatic Pilot control device
What signal.
Fig. 3 is at the control unit 12 in the parking intention judgment means 10 for indicate embodiment (1) is carried out first
The flow chart of reason movement.Present treatment movement is executed in the case where vehicle is set to automatic driving mode.
Firstly, in step sl, judging whether it is automatic driving mode.The judgement for example based on from automatic Pilot control fill
The automatic driving mode setting signal that 20 send is set to judge.In step sl, if being judged as not automatic driving mode (example
For example manual drive mode) then end processing later, on the other hand, if being judged as in automatic driving mode, enter step
S2。
In step s 2, the input signal for judging whether acquirement hazard warning light switch 61, does not obtain danger if being judged as
The input signal of danger warning lamp switch 61, then on the other hand return step S1 achieves hazard warning light switch 61 if being judged as
Input signal, then enter step S3.In step s3, input signal based on hazard warning light switch 61 and carry out calculating danger
The processing of the flashing times of dangerous warning lamp 37, enters step S4 later.
In step s 4, from judge signal message storage unit 13b read judge driver parking be intended to from endanger
Input signal (hazard warning light 37 is made to flash the signal in the state of pre-determined number (n times) or more) phase of danger warning lamp switch 61
The information of pass judges whether the input signal from hazard warning light switch 61 is that hazard warning light 37 is made to flash pre-determined number (n
It is secondary) more than signal.The pre-determined number is set to indicate the number that the parking of driver is intended to, and can be set as can be with phase
For the meaning out of politeness such as nearby vehicle for giving way twice left and right, short time flashing switch operation (so-called thanks are warned
Show) it the number of difference, is, for example, 3~5 times or so, but it is not limited to the number.Alternatively, it is also possible to be configured to not only set number
Lower limit value also sets upper limit value (setting numbers range).Alternatively, it is also possible to be further arranged can by the pre-determined number according to
The preference of driver, habit setting are registered as the judgement number configuration part of arbitrary number.
In step s 4, if being judged as signal, the i.e. institute for not making hazard warning light 37 flash pre-determined number (n times) or more
Thanks warning or maloperation are stated, then is ended processing later, on the other hand, if being judged as YES keeps the flashing of hazard warning light 37 predetermined
There is signal, i.e. driver more than number (n times) parking to be intended to, then enters step S5.
In step s 5, relative to automatic Pilot control device 20, carrying out output stops vehicle by automatic Pilot control
The processing of the indication signal (indicating the signal that the parking of driver is intended to) of vehicle, ends processing later.Automatic Pilot control device
20, when being intended to the reception automatic stopping indication signal of judgment means 10 from parking, execute the field that secure parking is capable of in automatic setting
Institute simultaneously makes the flashing of blinker 38 on direction for the roadside of parking and makes vehicle to the setting by automatic Pilot
The control of place parking.
Fig. 4 is at the control unit 12 in the parking intention judgment means 10 for indicate embodiment (1) is carried out second
The flow chart of reason movement.In addition, identical attached for the processing step mark for acting identical content with the first above-mentioned processing
Icon note, and the description thereof will be omitted.
In step s 2, if being judged as the input signal for achieving hazard warning light switch 61, S11 is entered step.?
In step S11, the input signal based on hazard warning light switch 61 and the scintillation time for measuring hazard warning light 37.
In following step S12, from judge signal message storage unit 13b read judge driver parking intention
With the input signal from hazard warning light switch 61 (in the state of so that hazard warning light 37 is flashed predetermined time (t seconds) or more
Signal) relevant information, judge whether the input signal from hazard warning light switch 61 is to flash hazard warning light 37
The signal more than predetermined time (t seconds).
The predetermined time is set to indicate the time that the parking of driver is intended to.Such as can be set as can with it is opposite
In switch operation (the so-called thanks police of the meaning out of politeness such as nearby vehicle to give way left and right ground short time flashing twice
Show) time (time more than specifically, 3 seconds~5 seconds degree) of difference, but it is not limited to the time.Alternatively, it is also possible to also
Judgement time setting including the predetermined time can be registered as to the arbitrary time according to the preference of driver, habit setting
Portion.
In step s 12, if being judged as the scintillation time of hazard warning light 37 and non-predetermined times (t seconds) or more, being
The thanks warning or maloperation, then end processing later.On the other hand, in step s 12, if being judged as hazard warning light
37 scintillation time is that predetermined time (t second) or more, i.e. driver has parking intention, then S5 is entered step later, to automatic
Steering control device 20 sends automatic stopping indication signal, ends processing later.
Fig. 5 is at the third that the control unit 12 in the parking intention judgment means 10 for indicate embodiment (1) is carried out
The flow chart of reason movement.In addition, identical attached for the processing step mark for acting identical content with the first above-mentioned processing
Icon note, the description thereof will be omitted.
In step s 2, if being judged as the input signal for achieving hazard warning light switch 61, S21 is entered step.?
In step S21, the measuring speed signal of operating range is obtained by vehicle speed sensor 42, in following step S22, is carried out
Speed signal based on acquirement and calculate after the input signal detection of hazard warning light switch 61 (in the flashing of hazard warning light 37)
Operating range processing, enter step S23 later.
In step S23, from judge signal message storage unit 13b read judge driver parking be intended to from endanger
The relevant information of input signal (operating range (Xm) after input hazard warning light switch 61) of danger warning lamp switch 61, sentences
Whether the calculated operating range that breaks is preset distance (Xm) or more.The preset distance is set to indicate driver's
The distance for intention of stopping can be set as controlling twice in short-term with relative to the meaning out of politeness such as nearby vehicle to give way
Between flash switch operation (so-called thank warning) difference distance, be, for example, 20m~30m degree or more distance, but not
It is limited to the distance.In addition, the preset distance is also configured to for example be set according to speed, speed is bigger, and distance becomes
It is longer.Alternatively, it is also possible to further including that the preset distance is registered as arbitrary distance according to the preference of driver, habit setting
Judgement apart from configuration part.
In step S23, if being judged as, the operating range is not preset distance (Xm) or more, is the thanks warning
Or maloperation, then it ends processing later.On the other hand, if be judged as the operating range be preset distance (Xm) more than, i.e.
There is driver parking to be intended to, then enters step S5, send automatic stopping indication signal to automatic Pilot control device 20, later
It ends processing.
Fig. 6 is to indicate control unit 12 that the parking of embodiment (1) is intended in judgment means 10 is carried out the everywhere
The flow chart of reason movement.In addition, identical attached for the processing step mark for acting identical content with the first above-mentioned processing
Icon note, and the description thereof will be omitted.
In step sl, if being judged as automatic driving mode, S31 is entered step.In step S31, judge whether to take
The input signal for obtaining direction indicator switch 62 returns if being judged as the input signal for not obtaining direction indicator switch 62
On the other hand step S1 if being judged as the input signal for achieving direction indicator switch 62, enters step S32.
In step s 32, judge whether the input signal from direction indicator switch 62 is the direction for making roadside direction
The signal that indicator light 47 flashes, if even if being judged as the signal for not flashing the blinker 47 in roadside direction, opposite vehicle
The signal of the blinker 47 of road side or overtaking lane side flashing, then end processing later.
On the other hand, in step s 32, it is judged as the signal for flashing the blinker 47 in roadside direction, then enters
Step S33.In addition, in the whether judgement for being the roadside direction, such as using from this truck position that navigation device 43 obtains
Information or traveling lane information.
In step S33, from judge signal message storage unit 13b read judge that the parking of driver is intended to from square
To input signal (signal in the state of making blinker 47 flash pre-determined number (m times) or more) phase of indicator switch 62
The information of pass judges whether the input signal from direction indicator switch 62 is that blinker 47 is made to flash pre-determined number (m
It is secondary) more than signal.
The pre-determined number is set to indicate the number that the parking of driver is intended to, and can be set as becoming in lane
More or left/right rotation makes the other number of active region of the flashing of blinker 38, such as 10 times or so before, but is not limited to the number.
It is registered as arbitrary time alternatively, it is also possible to further be arranged to set the pre-determined number according to preference, the habit of driver
Several judgement number configuration parts.
In step S33, if being judged as the signal, i.e. for not making blinker 47 flash pre-determined number (m times) or more
For maloperation, then after end processing, on the other hand, if be judged as YES make blinker 47 flash pre-determined number (m times) with
On signal, i.e. driver have parking be intended to, enter step S50, to automatic Pilot control device 20 send automatic stopping refer to
Show signal, ends processing later.
In addition it is also possible to be configured to, the processing of the step S33 of above-mentioned fourth process movement is substituted, executes judgement from side
It whether is the processing for making blinker 47 flash the signal more than predetermined time to the input signal of indicator switch 62.
Alternatively, it is also possible to be configured to, the processing of alternative steps S33 executes the input letter for judging direction indicator switch 62
After number detection the operating range of (blinker 47 flashing in) whether be preset distance or more processing.
Fig. 7 is at the control unit 12 in the parking intention judgment means 10 for indicate embodiment (1) is carried out the 5th
The flow chart of reason movement.In addition, for acting the processing step of identical content with the first above-mentioned processing and marking identical
Appended drawing reference, the description thereof will be omitted.
In step sl, if being judged as automatic driving mode, S41 is entered step.In step S41, judge whether to take
The input sound from microphone 63 is obtained, does not obtain the input sound from microphone 63 if being judged as, return step S1, separately
On the one hand, the input sound from microphone 63 is achieved if being judged as, enters step S42.
In step S42, the identifying processing of input sound is carried out, enters step S43 later.In step S43, sound is known
Other places reason as a result, judge to input whether sound is the sound (such as " stopping at roadside " for indicating the parking intention of driver
Deng).The sound dictionary data for indicating that the parking of driver is intended to is stored in voice recognition dictionary portion 13a.In addition it is also possible to set
Set " the table for inputting from microphone 63 as sound dictionary data for driver (user) and being stored in voice recognition dictionary portion 13a
Show the sound that parking is intended to " and the sound dictionary register registered.
In step S43, if being judged as the sound for not indicating that the parking of driver is intended to, end processing later, separately
On the one hand, if being judged as, there is sound, the i.e. driver for indicating that the parking of driver is intended to parking to be intended to, and enter step S5,
Automatic stopping indication signal is sent to automatic Pilot control device 20, is ended processing later.
It is intended to judgment means 10 according to the parking of above embodiment (1), based on what is obtained by input signal acquisition unit 12a
(switch input signal or sound are defeated for signal from hazard warning light switch 61, direction indicator switch 62 or microphone 63
Enter signal), judge that the parking of driver is intended in automatic driving mode downward driving, is being judged as the parking meaning for indicating driver
In the case where figure, automatic stopping indication signal is exported to automatic Pilot control device 20.As a result, in automatic driving mode, no
Can be controlled by automatic Pilot with aggravating the burden of the hand of driver makes vehicle parking.
It is to make danger in the input signal from hazard warning light switch 61 in addition, being intended to judgment means 10 according to parking
Warning lamp 37 flash the case where signal of pre-determined number (3~5) or more or more than the predetermined time (3~5 seconds) state or
In the case where being the signal that operating range in the flashing of hazard warning light 37 becomes preset distance or more, it is judged as that driver has
There is parking to be intended to.Thereby, it is possible to flash 1,2 time or short time with relative to the meaning out of politeness such as nearby vehicle to give way
The thanks of (2 seconds degree) warn difference, judge that the parking of driver is intended to.In addition, hazard warning light switch 61 is equipped on usually
Vehicle without the Operation switch new to vehicle loading, carrying behaviour can be cut down therefore by using hazard warning light switch 61
Make the area of Switch.In addition, the stopping of the usually display vehicle of hazard warning light switch 61, in above-mentioned implementation, driver is not
Need to be stored in advance special operation or function, can be set as using the excellent device of convenience.
In addition, being intended to judgment means 10 according to parking, based on the recognition result of the sound inputted from microphone 63, automatic
Judge that the parking of driver is intended in driving mode downward driving, is being judged as the sound identified by voice recognition processing unit 12b
In the case where indicating that the parking of driver is intended to, parking of the instruction based on automatic Pilot is exported to automatic Pilot control device 20
Signal.As a result, in automatic driving mode, the hand of driver can will not be aggravated by the voice input from microphone 63
Burden by automatic Pilot control make vehicle parking.
It is to make roadside in the input signal from direction indicator switch 62 in addition, being intended to judgment means 10 according to parking
The blinker 38 in direction flashes and blinker 38 is made to flash pre-determined number or more or the shape more than predetermined time
In the case where signal under state, be judged as driver have parking be intended to, therefore such as can with towards overtaking lane traveling
Road change difference judges that the parking of driver is intended to.Pass through the direction indicator switch 62 in automatic driving mode as a result,
Mode of operation makes vehicle parking by automatic Pilot control with capable of will not aggravating the burden of the hand of driver.In addition, due to side
It is equipped on common vehicle to indicator switch 62, therefore by using direction indicator switch 62, is not needed to vehicle loading
New Operation switch can cut down the area for carrying Operation switch class.In addition, direction indicator switch 62 is usually notified to surrounding
The intention of the drivers such as the traveling road change of vehicle, therefore driver is not necessarily to that special operation is stored in advance in above-mentioned implementation
Or function, can be set as using the excellent device of convenience.
In addition it is also possible to be configured to, it is arranged in automatic Pilot in other switches 64 for making the dedicated of vehicle parking
Button switch or be arranged in automatic Pilot in the display operation menu of navigation device 43 etc. for making vehicle parking
Soft-touch control etc., in automatic Pilot, the case where detecting the input signal of these dedicated button switches or soft-touch control
Under, automatic stopping indication signal is exported to automatic Pilot control device 20.
In addition, being intended in judgment means 10 in above-mentioned parking, control unit 12 is configured to execute above-mentioned first processing
The~the five processing movement is acted, but in other embodiments, is also configured to be able to carry out the first processing movement~the
At least one of five processing movement.
(note 1)
A kind of parking intention judgment means, are equipped on the vehicle with automatic driving mode, in the automatic driving mode
Judge that the parking of driver is intended in downward driving, wherein
The parking is intended to judgment means：
Memory, the judgement including storing information relevant to the input signal of parking intention of the driver is judged are believed
Number information storage part；And
At least one hardware processor is connect with the memory,
At least one hardware processor is configured to,
In the automatic driving mode downward driving, the signal from the scheduled input unit for being set to the vehicle is obtained,
It is read from the judgement signal message storage unit related to the input signal for judging that the parking of the driver is intended to
Information,
Signal from the scheduled input unit based on the acquirement and it is intended to the parking of the driver is judged
Input signal the relevant information of state, judge the driver parking be intended to,
It is being judged as that the signal from the scheduled input unit is the signal for indicating the parking of the driver and being intended to
In the case of, to parking of the automatic Pilot control unit output instruction based on automatic Pilot for the control for carrying out the automatic driving mode
Signal.
(note 2)
A kind of parking intention judgment method, uses the device for being equipped on the vehicle with automatic driving mode, the device packet
It includes：Memory, the judgement signal including storing information relevant to the input signal of parking intention of the driver is judged are believed
Cease storage unit；And at least one hardware processor, it is connect with the memory,
Judge that the parking of driver is intended in the automatic driving mode downward driving, wherein
The parking is intended to judgment method and includes the following steps：
Using at least one described hardware processor, in the automatic driving mode downward driving, obtain from set on institute
State the signal of the scheduled input unit of vehicle；
Using at least one described hardware processor, is read from the judgement signal message storage unit and judge the driving
The relevant information of input signal that the parking of member is intended to；
Using at least one described hardware processor, signal from the scheduled input unit based on the acquirement and
Information relevant to the input signal of parking intention of the driver is judged, judges that the parking of the driver is intended to；And
Using at least one described hardware processor, it is being judged as that the signal from the scheduled input unit is to indicate institute
In the case where the signal of parking intention for stating driver, to the automatic Pilot control unit for the control for carrying out the automatic driving mode
The signal of parking of the output instruction based on automatic Pilot.
Description of symbols
1,1A, automated driving system；10,10A, parking are intended to judgment means；11, input and output I/F；12,12A, control
Unit；12a, input signal acquisition unit；12b, voice recognition processing unit；12c, operating range calculation part；12d, driving mode are sentenced
Disconnected portion；12e, parking intent determining section；12f, signal output section；13, storage unit；13a, voice recognition dictionary portion；13b, sentence
Break signal information storage part；13c, control content store；20, automatic Pilot control device；37, hazard warning light；38, direction
Indicator light；61, hazard warning light switchs；62, direction indicator switchs；63, microphone；64, other switches.
Claims (8)
1. a kind of parking is intended to judgment means, it is equipped on the vehicle with automatic driving mode, and in the automatic driving mode
Judge that the parking of driver is intended in downward driving, which is characterized in that
The parking is intended to judgment means：
Input signal acquisition unit obtains in the automatic driving mode downward driving from the scheduled input for being set to the vehicle
The signal in portion；
Stop intent determining section, based on passing through the letter from the scheduled input unit acquired by the input signal acquisition unit
Number, judge that the parking of the driver is intended to；And
Signal output section is being judged as that the signal from the scheduled input unit is to indicate institute by the parking intent determining section
In the case where the signal of parking intention for stating driver, to the automatic Pilot control unit for the control for carrying out the automatic driving mode
The signal that output instruction is stopped based on automatic Pilot.
2. parking according to claim 1 is intended to judgment means, which is characterized in that
The scheduled input unit is provided at the hazard warning light switch of the vehicle,
The parking intent determining section based on as acquired by the input signal acquisition unit come from the hazard warning light switch
Input signal state, judge the driver parking be intended to.
3. parking according to claim 2 is intended to judgment means, which is characterized in that
The parking intent determining section is to keep hazard warning light flashing pre- in the input signal switched from the hazard warning light
In the case where determining number or more or the signal of the state more than predetermined time, it is judged as that there is the driver parking to be intended to.
4. parking according to claim 2 is intended to judgment means, which is characterized in that
It includes calculating the operating range calculation part of the operating range of the vehicle that the parking, which is intended to judgment means,
During being obtained by the input signal acquisition unit from the input signal that the hazard warning light switchs, by described
In the case that the calculated operating range of operating range calculation part is preset distance or more, the parking intent determining section is judged as
There is the driver parking to be intended to.
5. parking according to claim 1 is intended to judgment means, which is characterized in that
The scheduled input unit is provided at the voice input portion of the vehicle,
It includes voice recognition processing unit that the parking, which is intended to judgment means, and the voice recognition processing unit is carried out through the input
The identifying processing of voice signal from the voice input portion acquired by signal acquisition unit,
The parking intent determining section is to be intended to carry out the vehicle in the sound identified by the voice recognition processing unit
In the case where the sound of parking, it is judged as that there is the driver parking to be intended to.
6. parking according to claim 1 is intended to judgment means, which is characterized in that
The scheduled input unit is provided at the direction indicator switch of the vehicle,
The parking intent determining section acquired by the input signal acquisition unit from the direction indicator based on by opening
The state of the input signal of pass judges that the parking of the driver is intended to.
7. parking according to claim 6 is intended to judgment means, which is characterized in that
The parking intent determining section is the direction made in roadside direction in the input signal switched from the direction indicator
Indicator light flashes and makes blinker flashing pre-determined number or more or the signal of the state more than predetermined time
In the case of, it is judged as that there is the driver parking to be intended to.
8. a kind of parking is intended to judgment method, using be equipped on the vehicle with automatic driving mode and including storage unit and with this
The device of the hardware processor of storage unit cooperation judges that the parking of driver is intended in the automatic driving mode downward driving,
It is characterized in that,
The storage unit includes that the judgement of storage information relevant to the input signal of parking intention of the driver is judged is believed
Number information storage part,
The parking is intended to judgment method and includes the following steps：
In the automatic driving mode downward driving, the hardware processor is obtained from the scheduled input for being set to the vehicle
The signal in portion；
The hardware processor reads from the judgement signal message storage unit and judges that it is defeated that the parking of the driver is intended to
Enter the relevant information of signal；
Signal from the scheduled input unit based on the acquirement and with judge that it is defeated that the parking of the driver is intended to
Enter the relevant information of signal, the hardware processor judges that the parking of the driver is intended to；And
The hardware processor is being judged as that the signal from the scheduled input unit is the parking meaning for indicating the driver
In the case where the signal of figure, the automatic Pilot control unit output instruction to the control for carrying out the automatic driving mode is based on automatic
Drive the signal to stop.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-092846 | 2017-05-09 | ||
| JP2017092846A JP2018188029A (en) | 2017-05-09 | 2017-05-09 | Stop intention determination device and stop intention determination method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860161A true CN108860161A (en) | 2018-11-23 |
Family
ID=63962665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810319015.2A Pending CN108860161A (en) | 2017-05-09 | 2018-04-10 | Parking is intended to judgment means and parking is intended to judgment method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20180326998A1 (en) |
| JP (1) | JP2018188029A (en) |
| CN (1) | CN108860161A (en) |
| DE (1) | DE102018002900A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541576A (en) * | 2018-11-28 | 2019-03-29 | 武汉微智创大科技有限公司 | The detection method and system that vehicle specification is parked |
| CN112373446A (en) * | 2020-06-29 | 2021-02-19 | 东风汽车集团有限公司 | Voice control safety auxiliary system and method based on unmanned vehicle |
| CN112550275A (en) * | 2019-09-26 | 2021-03-26 | 比亚迪股份有限公司 | Vehicle, parking method thereof, parking device and computer readable storage medium |
| CN114103973A (en) * | 2021-11-12 | 2022-03-01 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, device, vehicle and computer readable storage medium |
| CN114103973B (en) * | 2021-11-12 | 2024-05-28 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, device, vehicle and computer readable storage medium |
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| US10549762B2 (en) * | 2017-07-31 | 2020-02-04 | GM Global Technology Operations LLC | Distinguish between vehicle turn and lane change |
| JP7075880B2 (en) * | 2018-12-28 | 2022-05-26 | 本田技研工業株式会社 | Self-driving vehicle system |
| JP2020168918A (en) * | 2019-04-02 | 2020-10-15 | 株式会社ジェイテクト | Steering gear |
| JP7343837B2 (en) | 2019-10-03 | 2023-09-13 | トヨタ自動車株式会社 | Driving support device |
| US11285949B2 (en) * | 2019-12-04 | 2022-03-29 | Hyundai Motor Company | Vehicle travel control system and control method therefor |
| JP2022019244A (en) * | 2020-07-17 | 2022-01-27 | フォルシアクラリオン・エレクトロニクス株式会社 | Operation support device and program |
| CN115547313A (en) * | 2022-09-20 | 2022-12-30 | 海南大学 | Method for controlling sudden stop of running vehicle based on voice of driver |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109541576A (en) * | 2018-11-28 | 2019-03-29 | 武汉微智创大科技有限公司 | The detection method and system that vehicle specification is parked |
| CN112550275A (en) * | 2019-09-26 | 2021-03-26 | 比亚迪股份有限公司 | Vehicle, parking method thereof, parking device and computer readable storage medium |
| CN112550275B (en) * | 2019-09-26 | 2022-04-15 | 比亚迪股份有限公司 | Vehicle, parking method thereof, parking device and computer readable storage medium |
| CN112373446A (en) * | 2020-06-29 | 2021-02-19 | 东风汽车集团有限公司 | Voice control safety auxiliary system and method based on unmanned vehicle |
| CN114103973A (en) * | 2021-11-12 | 2022-03-01 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, device, vehicle and computer readable storage medium |
| CN114103973B (en) * | 2021-11-12 | 2024-05-28 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, device, vehicle and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| US20180326998A1 (en) | 2018-11-15 |
| DE102018002900A1 (en) | 2018-11-15 |
| JP2018188029A (en) | 2018-11-29 |
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